Flexible Finger-Wearable Haptic Feedback Device

1. A flexible finger-wearable haptic feedback device, comprising a fingertip sleeve sheathing a distal phalanx of a finger, a middle sleeve sheathing a middle phalanx of the finger, a proximal sleeve sheathing a proximal phalanx of the finger, an outer transmission rod having bending elasticity arranged on a back of the finger, and an inner transmission rod having bending elasticity arranged on a pad of the finger, wherein the outer transmission rod is fixed on the fingertip sleeve at one end, sequentially passes through an outer portion of the middle sleeve and an outer portion of the proximal sleeve, and is positioned at a back of a hand at the other end and connected with an outer driver for applying push-pull force to the outer transmission rod; the inner transmission rod is fixed on the fingertip sleeve at one end, sequentially passes through an inner portion of the middle sleeve and an inner portion of the proximal sleeve, and is positioned at a palm at the other end and connected with an inner driver for applying push-pull force to the inner transmission rod; the fingertip sleeve is provided with a first contact pressure sensor connected with an end portion of the outer transmission rod, the fingertip sleeve is provided with a second contact pressure sensor connected with an end portion of the inner transmission rod, and an inner wall of a portion of the fingertip sleeve contacting the pad of the finger is provided with a film pressure sensor, wherein an outer portion of the fingertip sleeve and the outer portion of the middle sleeve are provided with a first corrugated connector therebetween; and the outer portion of the middle sleeve and the outer portion of the proximal sleeve are provided with a second corrugated connector therebetween, the outer portions of the fingertip sleeve, the middle sleeve and the proximal sleeve are each provided with a connector notch; and two ends of the first corrugated connector are bonded to the connector notches of the fingertip sleeve and the middle sleeve, and two ends of the second corrugated connector are bonded to the connector notches of the middle sleeve and the proximal sleeve.

2. The flexible finger-wearable haptic feedback device according to claim 1 , wherein an outer portion of the fingertip sleeve is provided with a fingertip upper boss, and the fingertip upper boss is provided with a through hole for receiving the outer transmission rod; an inner portion of the fingertip sleeve is provided with a fingertip lower boss, and the fingertip lower boss is provided with a through hole for receiving the inner transmission rod; the outer portion of the middle sleeve is provided with a middle upper boss, and the middle upper boss is provided with a through hole for receiving the outer transmission rod; the inner portion of the middle sleeve is provided with a middle lower boss, and the middle lower boss is provided with a through hole for receiving the inner transmission rod; and the outer portion of the proximal sleeve is provided with a proximal upper boss, and the proximal upper boss is provided with a through hole for receiving the outer transmission rod; the inner portion of the proximal sleeve is provided with a proximal lower boss, and the proximal lower boss is provided with a through hole for receiving the inner transmission rod.

3. The flexible finger-wearable haptic feedback device according to claim 2 , wherein the middle upper boss comprises a plurality of boss sections spaced-apart and arranged along a finger direction; the middle lower boss comprises a plurality of boss sections spaced-apart and arranged along the finger direction; the proximal upper boss comprises a plurality of boss sections spaced-apart and arranged along the finger direction; and the proximal lower boss comprises a plurality of boss sections spaced-apart and arranged along the finger direction.

4. The flexible finger-wearable haptic feedback device according to claim 2 , wherein a part of the outer transmission rod penetrating into the fingertip upper boss is provided with a first fixing hole, the fingertip upper boss is provided with a first threaded hole aligned to the first fixing hole and a first screw threaded in the first threaded hole, and the first screw penetrates through the first fixing hole; a part of the inner transmission rod penetrating into the fingertip lower boss is provided with a second fixing hole, the fingertip lower boss is provided with a second threaded hole aligned to the second fixing hole and a second screw threaded in the second threaded hole, and the second screw penetrates through the second fixing hole; and a diameter of the first fixing hole is larger than an external diameter of thread of the first screw, and a diameter of the second fixing hole is larger than an external diameter of thread of the second screw.

5. The flexible finger-wearable haptic feedback device according to claim 1 , wherein the outer transmission rod and the inner transmission rod are spring steel sheets; and the outer driver and the inner driver are pushrod motors.

6. The flexible finger-wearable haptic feedback device according to claim 1 , wherein two sides of the fingertip sleeve, the middle sleeve and the proximal sleeve are respectively provided with a plurality of lateral round holes.

7. The flexible finger-wearable haptic feedback device according to claim 1 , wherein the inner portion of the middle sleeve and the inner portion of the proximal sleeve are respectively provided with a plurality of gaps.

8. The flexible finger-wearable haptic feedback device according to claim 1 , wherein the first and second corrugated connectors are made of soft rubber.